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We always have the option of switching to a 6 wheel drop-center 8" pneumatic wheel tank, which has been shown to be able to traverse the defenses with little trouble. 

We continued our drivetrain design. We came to the conclusion that we want to have strafing capability for agility and shooting alignment, but that a nonadrive is not the way to go because it requires overly complicated workarounds to work with the clearances we need.

We have decided, at least for now, to go with an octacanum design that shifts between 8" pneumatic wheels and 6" or 8" mecanums that are staggered along the width of the robot to have the optimal wheelbase. This removes the need for a strafe wheel that could so hinder our breaching capabilities. 

The nonadrive requires a lot of clearance to go past the 4 and a half inch rock wall. We also figured out that using a "lift kit" to provide more clearance is relatively ineffective as we are limited to a 3" shift in height due to bumper rules. 

The octacanum on the other hand requires 4 gearboxes to allow each air wheel/ mecanum module to spin in independent directions to allow for mecanum drive.

Continue design ideas, make sure to work out any kinks before continuing. After that, start belt measurements and technical drawings to begin cad while ensuring proper integration.

We are on the path to success of having a cadded drivetrain relatively soon.